ci: Switch to lerna-lite, setup changelog preset

[yuqiora]

• use lerna-lite
  • the limited scope is sufficient for our purposes
  • it has various nice extra features
  • enable sync workspace
  • include author login in changelog
• use conventionalcommits changelog preset
  • proper handling of breaking changes and "!" suffix
  • potential more control over commit types in changelog
• build the lib on prepack to ensure we publish the latest state
• adjust lerna options in prerelease script

I have good experience with lerna-lite on https://github.com/salsita/configurator-sdk and I think it would be good to have it here as well. The changelog preset to get proper versioning when breaking changes are introduced. E.g. #44.